Stability and transparency study for teleoperation system with time delay

To the problem that the communication time delay usually causes instability and bad performance of the system. In order to eliminate the effect of that, the whole system is described as a state equation with time delay. Then we adopted appropriate Lyapunov function to analyze system's stability, and obtained the stability conditions at constrained motion with time delay. In addition, we established the equivalent circuit of the system and studied a novel method of impedance matching to analyze the system's transparency with time delay or not. The simulation results illustrated the validity of the proposed method and the system has good stability and transparency.